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A Bulleted/Pictorial History of Mechanisms and Machines A Bulleted/Pictorial History of Mechanisms and Machines Dr. Robert L. Williams II, Professor Mechanical Engineering, Ohio University © 2021 Dr. Bob Productions [email protected] www.ohio.edu/mechanical-faculty/williams South-Pointing Chariot, 240 CE China i0.wp.com/cdn.makezine.com/uploads/2013/02/10319906.jpg Hieropolis Sawmill, Third Century CE (Asia Minor, First Slider-Crank Mechanism) en.wikipedia.org/wiki/Hierapolis_sawmill 2 Mechanisms and Machines History, Dr. Bob Table of Contents PROLOGUE .............................................................................................................................................. 3 1. MACHINES AND MECHANISMS ................................................................................................... 4 2. CONCEPTS RELATED TO MACHINES AND MECHANISMS ................................................. 8 3. IMPORTANT DEVELOPERS OF MECHANISM SCIENCE AND ENGINEERING ............. 10 4. LINKAGES, GEARS, AND CAM-FOLLOWER MECHANISMS ............................................. 14 5. SOME SPECIFIC MACHINE AND MECHANISM INVENTIONS IN HISTORY .................. 25 6. IMPORTANT PERSONS IN THE HISTORY OF MECHANISMS ........................................... 38 7. DEFINITIONS ................................................................................................................................... 44 REFERENCES ........................................................................................................................................ 46 © 2021 Dr. Bob Productions 3 Prologue Friends, no matter how computerized, remote, online, blue-toothicized, Internet-based, and virtualized the world becomes, Mechanisms will always be important! I am afraid that after the explosion of modern kinematics techniques in the 1950s – 1980s, especially as enabled by the digital computer, mechanism kinematics synthesis and analysis, plus dynamics, is not being sufficiently taught in universities today. This is due in part to pressures for reducing basic engineering coursework in favour of, ironically, more computer-based methods. In order to know how to move into the future, we must know where we came from, and, in particular, who are the giants on whose shoulders we stand. Thus, this doc was born. My graduate training in Mechanical Engineering was at Virginia Tech in the 1980s; my Freudenstein academic heritage is Freudenstein Sandor Reinholtz Williams. I have been presenting papers at the ASME Mechanisms and Robotics Conference nearly continuously since 1986. At these events early on, Professor Charlie Reinholtz introduced me to both Professors Freudenstein and Sandor, which I appreciate very much. My undergraduate education was in Mechanical Engineering at Ohio University, where Professor O.E. Adams Jr. used the third edition of Mabie & Ocvirk. During my time at Virginia Tech, I witnessed the creation of Mabie & Reinholtz (fourth edition, 1987). After my schooling I worked as a Space Roboticist at NASA Langley Research Center for 5 years. Since then I have been Professor of Mechanical Engineering at Ohio University, teaching kinematics & dynamics of mechanisms to hundreds of undergraduate students (in addition to controls, vibrations, robotics, and biomechanics). This document presents a bulleted and pictorial history of machines and mechanisms, tracing important mechanisms to their earliest incarnations, through the developments during the Renaissance, up to the modern computer age. This is intended to be updated periodically, so feel free to email me (yes, I go back that far!) with your suggestions, additions, deletions, errors, opinions, anecdotes, graphics, etc. Dr. Bob from an undisclosed location in the country near Athens OH December 2020 © 2021 Dr. Bob Productions 4 1. Machines and Mechanisms Machines A Machine is a mechanical device that takes input power to apply forces and moments to accomplish desired tasks. Modern machines (e.g. cars, boats, aircraft, spacecraft, appliances, air and water handling, machine tools, and robots, etc.) are a complicated combination of structures, mechanisms, and controls. Etymology: from the French, which came from the Latin machina, which in turn came from the Greek, contrivance, means, expedient. Cigarette Rolling Machine, patented in 1881 by James Bonsack Bonsack machine - James Albert Bonsack - Wikipedia Simple Machines The six Simple Machines (stated below in the order of appearance in history) were classified during the Renaissance, and the concept of Mechanical Advantage (the ratio of output force to input force) was first developed by Archimedes in the third century BCE. The Greeks' understanding of Simple Machines was limited to statics and did not include dynamics or the concept of work. 1. Wedge – ancient, hand axes. 2. Inclined Plane (ramp) – prehistoric, to move heavy masses. 3. Wheel-and-Axle – Mesopotamia in the fifth millennium BCE. 4. Lever – Near-East in the fifth millennium BCE. 5. Pulley – Mesopotamia in the second millennium BCE. 6. Screw – Mesopotamia in the first millennium BCE. © 2021 Dr. Bob Productions 5 The Six Simple Machines www.carolina.com/images/teacher-resources/infographics/simple-machines.jpg © 2021 Dr. Bob Productions 6 Mechanisms Mechanism is a very general English word (a means of accomplishing something). In Mechanical Engineering, it is a device that converts input motion and force/torque to output motions and force/torque. Mechanisms include linkages, gears and gear trains, cams and followers, belts and chain drives, and combinations of these. Brakes, clutches, escapements, frames, fasteners, bearings, springs, lubricants, splines, pins, and keys are also involved. Further, Mechanisms have come to indicate mechanical devices with one degree-of-freedom (as opposed to robots which have more than one degree-of-freedom). Mobility is defined as the number of degrees of freedom in a device (including zero or negative freedom structures). Mobility is defined and calculated by the Grübler-Kutzbach Criterion wherein separate equations for 2D and 3D devices are based on the number of links (having freedom) and the number and types of joints (constraining freedom). From Archimedes through the Renaissance, mechanisms were considered to be built from combinations of the six simple machines. German mechanical engineer Franz Reuleaux (1829 – 1905) instead considered Rigid Bodies (Links) and Kinematic Pairs (Joints), the connections between bodies. Rigid bodies are a simplifying assumption whereby no link flexing nor vibration is considered. Kinematic pairs (joints) are also regarded as ideal. Reuleaux divided joints into Lower Pairs (surface contact) and Higher Pairs (line contact). He is also responsible for the ‘stick-figure’ kinematic diagrams still in use today. Reuleaux defined a Mechanism as “a combination of resistant bodies so arranged that by their means the mechanical forces of nature can be compelled to do work accompanied by certain determinate motion.” © 2021 Dr. Bob Productions 7 Kinematic Pairs (Joints) Useful Lower Pair Joints 1-dof Revolute Joint R – pin or hinge joint 1-dof Prismatic Joint P – sliding pair 1-dof Screw joint, Helical joint 2-dof Universal joint U 2-dof Cylindrical joint C 3-dof Spherical joint S The second two lines of four lower-pair joints are for spatial (3D) motion only. Useful Higher Pair Joints cam joint C gear joint G slotted pin joint SP © 2021 Dr. Bob Productions 8 2. Concepts Related to Machines and Mechanisms Mechanization gives human workers machinery to assist with the muscular requirements of work. In modern engineering / economics usage, mechanization indicates machinery more complex than hand tools. After electrification, when most small machinery was no longer hand powered, mechanization was synonymous with motorized machines. Automation is the application of control systems and information technologies to reduce the need for human work in the manufacturing and service industries. Automation is a step beyond mechanization, since automation greatly decreases the need for human sensory and mental inputs. Automation plays an increasingly important role in the global economy and in daily life. Fixed automation involves 1-dof mechanisms, while flexible automation requires multiple-dof robots. An Automaton (plural: automata or automatons) is a mechanical self-operating machine. Etymology: the English word Automaton comes through Latin from the Greek, ‘acting of one’s own will’. Automata have been developed throughout history, by the ancient Greeks, in the Medieval period (e.g. al-Jazari, Book of Knowledge of Ingenious Mechanical Devices, 1206 CE), and especially in the Renaissance with puppets for entertainment in music, cuckoo clocks, writing humanoids, etc. As seen in the photograph below, modern humanoid robots were not the start of ‘creepy’ machines. en.wikipedia.org/wiki/Automaton#/media/File:CIMA_mg_8332.jpg In modern usage, Automaton is sometimes used to describe an autonomous robot. Unlike mechanisms and other fixed automation, robots have more than one degree-of-freedom, and are programmable to achieve a variety of tasks. Animatronics are modern Automata controlled by mechatronics, in films and theme parks. © 2021 Dr. Bob Productions 9 A Mechanical System converts input power to accomplish a task that involving forces and motion. Modern machines are systems consisting of: 1. a power source and actuators; 2. a system of mechanisms that change the actuator input to achieve the desired application of output forces and motion; 3. a controller
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